Maxime Chevalier-Boisvert maximecb

## xarm_control.py
"""
sudo apt-get install libhidapi-hidraw0 libhidapi-libusb0
pip3 install --user hid

Notes:
- servos_off will power off the servos
- sending a movement command wakes up unpowered servos
- position readouts are sadly pretty slow, they can take up to 450ms
"""

## music.csv

          
            X
            
            
            
            
            
            kick
            snare

            
              
              X

            
              
              
              
              
              
              X

            
              
              
              X

            
              
              
              
              X
              
              
              kick

            
              
              
              
              X

            
              
              X

            
              
              
              
              X

            
              
              
              
              X
              
              
              kick
              snare
              clap

            
              
              X

## random.cpp
// Header files
#include "random.h"

// Initialize the constants for 64 bit random values
// Xn+1 = A * Xn + B (mod 2^64)
const uint64 CRandomGenerator::A_CONSTANT_64 = (uint64)(0x27BB2EE6)*(0x010000)*(0x010000) + (uint64)(0x87B0B0F);
const uint64 CRandomGenerator::B_CONSTANT_64 = 0xB504F32D;

// Initialize the constants for 32 bit random values
// Xn+1 = A * Xn + B (mod 2^32)
	"""
	sudo apt-get install libhidapi-hidraw0 libhidapi-libusb0
	pip3 install --user hid

	Notes:
	- servos_off will power off the servos
	- sending a movement command wakes up unpowered servos
	- position readouts are sadly pretty slow, they can take up to 450ms
	"""
	// Header files
	#include "random.h"

	// Initialize the constants for 64 bit random values
	// Xn+1 = A * Xn + B (mod 2^64)
	const uint64 CRandomGenerator::A_CONSTANT_64 = (uint64)(0x27BB2EE6)(0x010000)(0x010000) + (uint64)(0x87B0B0F);
	const uint64 CRandomGenerator::B_CONSTANT_64 = 0xB504F32D;

	// Initialize the constants for 32 bit random values
	// Xn+1 = A * Xn + B (mod 2^32)